IMAGE PROCESSING APPARATUS, IMAGE PROCESSING METHOD, AND PROGRAM
An image processing apparatus includes a display unit that displays an image of a measurement object and an image of an object which corresponds to the measurement object and has a 3-dimensional (3D) shape which is calculated in advance, a designating unit that designates a first point on the image of the measurement object and a second point on the image of the object, a calculating unit that performs a geometric calculation of a first figure, an adjusting unit that adjusts a pose or a position of at least one of the image of the measurement object and the image of the object based on a result of the geometric calculation, and a measuring unit that calculates spatial coordinates on the object corresponding to a measurement position designated after the pose or the position is adjusted, and calculates a size of the object based on the calculated spatial coordinates.
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1. Field of the Invention
The present invention relates to an image processing apparatus, an image processing method, and a program, which are capable of processing an image of a measurement object to measure the size of the measurement object.
This application is a continuation application based on a PCT Patent Application No. PCT/JP2012/065124, filed on Jun. 13, 2012, whose priority is claimed on Japanese Patent Application No. 2011-134341, filed on Jun. 16, 2011. The contents of both the PCT Application and the Japanese Application are incorporated herein by reference.
2. Description of Related Art
In the past, measurement of a blade or the like in a jet engine has been performed using an observation tool such as an endoscope. Japanese Unexamined Patent Application, First Publication No. H3-102202A discloses a technique applied to measurement of the blade or the like. In the technique disclosed in Japanese Unexamined Patent Application, First Publication No. H3-102202A, a subject image obtained by imaging a subject and a CG image generated by Computer Graphics are displayed on a monitor. Then, the CG image is changed based on a user's instruction so that a state of an object in the CG image matches a state of a subject in the subject image. Thus, according to the technique disclosed in Japanese Unexamined Patent Application, First Publication No. H3-102202A, it is possible to measure a desired portion of the CG image.
However, in the technique disclosed in Japanese Unexamined Patent Application, First Publication No. H3-102202A, when measurement is performed on each subject image while switching a plurality of subject images which differ in appearance of a subject, an operation of matching the state of the object in the CG image with the state of the subject in the subject image needs to be performed each time a subject image is switched.
Meanwhile, a technique of automatically matching a 2-dimensional (2D) image obtained by imaging a subject with a 3-dimensional (3D) object based on data obtained using a computer-aided design (CAD) is disclosed in U.S. Patent Application, Publication No. 2009/0096790. In the technique disclosed in U.S. Patent Application, Publication No. 2009/0096790, first, when a 3D object is observed from a plurality of virtual points of view, projection diagrams of the 3D object observed at the respective points of view are generated. When the projection diagrams are generated, the plurality of projection diagrams are stored together as a 2D model. Then, matching between the 2D image and the generated 2D model is performed. Then, a projection diagram which is highest in similarity with the 2D model is searched for, and a relative position of a subject shown in the 2D image and a camera that has imaged the 2D image is calculated based on the position of a point of view when the projection diagram is generated.
SUMMARY OF THE INVENTIONAccording to a first aspect of the present invention, an image processing apparatus includes a display unit that displays an image of a measurement object and an image of an object which corresponds to the measurement object and has a 3-dimensional (3D) shape which is calculated in advance, a designating unit that designates a first point on the image of the measurement object and a second point on the image of the object based on an instruction input through an input device, a calculating unit that performs a geometric calculation of a first figure based on the first point and a second figure based on the second point, an adjusting unit that adjusts a pose or a position of at least one of the image of the measurement object and the image of the object based on a result of the geometric calculation, and a measuring unit that calculates spatial coordinates on the object corresponding to a measurement position designated based on an instruction input through the input device after the pose or the position is adjusted, and calculates a size of the object based on the calculated spatial coordinates.
According to a second aspect of the present invention, in the image processing apparatus according to the first aspect, each of the first point and the second point may include three or more points designated based on the instruction input through the input device.
According to a third aspect of the present invention, the calculating unit included in the image processing apparatus according to the second aspect, may perform the geometric calculation such that the first point is associated with the second point based on an order in which the first point is designated and an order in which the second point is designated.
According to a fourth aspect of the present invention, the calculating unit included in the image processing apparatus according to the first aspect, may perform a geometric calculation of a first figure on a plane based on the first point and a second figure on a space based on a point in a space of the object corresponding to the second point.
According to a fifth aspect of the present invention, the calculating unit included in the image processing apparatus according to the fourth aspect, may perform a geometric calculation of a first figure on the plane and a third figure obtained such that the second figure in the space is projected onto the plane.
According to a sixth aspect of the present invention, the designating unit included in the image processing apparatus according to the first aspect, may further set a transparency of the image of the object when the first point is designated higher than a transparency of the image of the object when the second point is designated.
According to a seventh aspect of the present invention, the display unit included in the image processing apparatus according to the first aspect, may maintain poses and positions of the image of the measurement object and the image of the object until the geometric calculation ends after displaying the image of the measurement object and the image of the object. Then, the display unit may re-display the image of the measurement object and the image of the object whose pose or position has been adjusted after the geometric calculation ends.
According to an eighth aspect of the present invention, an image processing method includes a step of displaying an image of a measurement object and an image of an object which corresponds to the measurement object and has a 3-dimensional (3D) shape which is calculated in advance, a step of designating a first point on the image of the measurement object and a second point on the image of the object based on an instruction input through an input device, a step of performing a geometric calculation of a first figure based on the first point and a second figure based on the second point, a step of adjusting a pose or a position of at least one of the image of the measurement object and the image of the object based on a result of the geometric calculation, and a step of calculating spatial coordinates on the object corresponding to a measurement position designated based on an instruction input through the input device after the pose or the position is adjusted, and calculating a size of the object based on the calculated spatial coordinates.
According to a ninth aspect of the present invention, in the image processing method according to the eighth aspect, each of the first point and the second point may include three or more points designated based on the instruction input through the input device, and the calculating unit may perform the geometric calculation such that the first point is associated with the second point based on an order in which the first point is designated and an order in which the second point is designated.
According to a tenth aspect of the present invention, a computer program product having a program stored there in for causing a computer to function as that a display unit that displays an image of a measurement object and an image of an object which corresponds to the measurement object and has a 3-dimensional (3D) shape which is calculated in advance, a designating unit that designates a first point on the image of the measurement object and a second point on the image of the object based on an instruction input through an input device, a calculating unit that performs a geometric calculation of a first figure based on the first point and a second figure based on the second point, an adjusting unit that adjusts a pose or a position of at least one of the image of the measurement object and the image of the object based on a result of the geometric calculation, and a measuring unit that calculates spatial coordinates on the object corresponding to a measurement position designated based on an instruction input through the input device after the pose or the position is adjusted, and calculates a size of the object based on the calculated spatial coordinates.
Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.
In the present embodiment, an endoscope apparatus 3 (image processing apparatus) is used to acquire an image of the turbine blades 10. An endoscope-inserting unit 20 of the endoscope apparatus 3 is inserted into the jet engine 1. A video of the turbine blades 10 being rotated is acquired by the endoscope-inserting unit 20. 3D measurement software for performing 3D measurement of the turbine blades 10 is stored in the endoscope apparatus 3.
In the endoscope-inserting unit 20, the imaging optical system 30a collects light from a subject (an inspection object), and forms a subject image on an image-forming plane of the imaging element 30b. The imaging element 30b performs photoelectric conversion on the subject image, and generates an imaging signal. The imaging signal output from the imaging element 30b is input to the image signal-processing apparatus 31.
In the endoscope apparatus body 21, the image signal-processing apparatus 31 converts the imaging signal received from the imaging element 30b into a video signal such as an NTSC signal, supplies the video signal to the control computer 34, and outputs the video signal to the outside as an analog video as necessary.
The light source 32 is connected to the distal end of the endoscope-inserting unit 20 through an optical fiber or the like, and can externally radiate light. The curvature control unit 33 is connected to the distal end of the endoscope-inserting unit 20, and can bend the distal end vertically or laterally. The light source 32 and the curvature control unit 33 are controlled by the control computer 34.
The control computer 34 includes a RAM 34a, a ROM 34b, a CPU 34c, and external interfaces such as a network I/F 34d, an RS232C I/F 34e, and a card I/F 34f. The RAM 34a is used to temporarily store data such as image information necessary for a software operation. The ROM 34b stores a series of software (programs) for controlling the endoscope apparatus 3. 3D measurement software which will be described later is stored in the ROM 34b as well. The CPU 34c executes an operation for various kinds of controls using data stored in the RAM 34a according to a command code of software stored in the ROM 34b.
The network I/F 34d is an interface used to connect an external PC with a LAN cable. The network I/F 34d can cause video information output from the image signal-processing apparatus 31 to be developed in an external PC. The RS232C I/F 34e is an interface used for a connection with the remote controller 23. The remote controller 23 can control various kinds of operations of the endoscope apparatus 3 in response to the user's operation. The card I/F 34f is configured so that various kinds of memory cards 50 which are recording media can be removably mounted in the card I/F 34f. As the memory card 50 is mounted, under control of the CPU 34c, it is possible to acquire data such as image information stored in the memory card 50 or record data such as image information in the memory card 50.
A configuration illustrated in
In
The RAM 35a is used to temporarily store data such as image information necessary for a software operation. A series of software for controlling the endoscope apparatus is stored in the HDD 35b, and the 3D measurement software is stored in the HDD 35b as well. Further, in the present embodiment, a folder for storing an image of the turbine blade 10 is set in the HDD 35b. For example, the CPU 35c executes an operation for various kinds of control using data stored in the RAM 35a according to a command code of software stored in the HDD 35b.
The network I/F 35d is an interface for connecting the PC 6 with the endoscope apparatus 3 through the LAN cable 7. Video information output from the endoscope apparatus via a LAN is capable of being input to the PC 6 through the network I/F 35d. The USB I/F 35e is an interface for connecting the PC 6 with the endoscope apparatus 3 through the video capture card 5. Video information of an analog video output from the endoscope apparatus 3 is capable of being input to the PC 6 through the USB I/F 35e.
In the blade inspection systems illustrated in
Next, a screen of a 3D measurement software will be described.
Display of the main window 600 is controlled by the CPU 34c. The CPU 34c generates a graphic image signal (a display signal) for displaying the main window 600, and outputs the graphic image signal to the monitor 22. Further, when a video (hereinafter referred to as a “measurement image”) acquired by the endoscope apparatus 3 is displayed on the main window 600 in a superimposed manner, the CPU 34c performs a process of causing image data acquired from the image signal-processing apparatus 31 to be superimposed onto the graphic image signal, and outputs the processed signal (display signal) to the monitor 22.
Further, when a display state of the GUI on the main window 600 is updated, the CPU 34c generates a graphic image signal corresponding to the updated main window 600, and performs the same process as described above. Processing related to a display of a window other than the main window 600 is performed in a similar manner. Hereinafter, a process of generating a graphic image signal by the CPU 34c in order to display (or update) the main window 600 or the like is referred to as a process for displaying the main window 600 or the like.
The user can perform various GUI (Graphical User Interface) operations of the main window 600 by using the GUI functions such as operating the main window 600 through the remote controller 23, moving a cursor C displayed on the main window 600 in the superimposed manner, and inputting an instruction by an click operation. Various GUI functions will be described below.
A [File Open] box 610 is arranged on the upper right portion of the main window 600. An [Image & 3D-Object] box 611 is arranged on the upper left portion of the main window 600. The [File Open] box 610 is a box used to select a measurement image to be displayed on the [Image & 3D-Object] box 611 and select CAD data corresponding to a 3D object to be displayed on the [Image & 3D-Object] box 611.
CAD data represents 3D shape data of the turbine blade 10 calculated in advance using a computer-aided design (CAD). For example, a standard triangulated language (STL) format is used as a format of CAD data. A 3D object is a CG object constructed based on content of CAD data. A description of the details of a GUI and an operation in the [File Open] box 610 will be omitted.
The [Image & 3D-Object] box 611 is a box used to display a measurement image IMG obtained by imaging the turbine blade 10 which is a measurement object and display a 3D object OB to be superimposed onto the measurement image IMG. As will be described later, the user operates the [Image & 3D-Object] box 611, for example, to change a camera pose, designate a reference point, or designate a measurement point.
A [Display Setting] box 620 is arranged on the lower left portion of the main window 600. A GUI related to a display setting of the 3D object OB displayed on the [Image & 3D-Object] box 611 is arranged in the [Display Setting] box 620. The [Display Setting] box 620 has the following GUI functions.
A [Transparent] bar 621 is a bar used to set a display transparency of a 3D object.
The [Transparent] bar 621 is configured to be moveable (slidable) in the horizontal direction (the transverse direction). The user changes display transparency of the 3D object by moving the [Transparent] bar 621.
For example, when the transparency is set high, the 3D object OB is displayed with transparency close to full transparency. When the transparency is set low, the 3D object OB is displayed without transparency. As will be described later, when the user designates a reference point on the measurement image IMG in the [Image & 3D-Object] box 611, it is preferable to set the transparency of the 3D object OB high so that the measurement image IMG is clearly viewed. Further, when the user designates a reference point on the 3D object OB, it is preferable to set the transparency of the 3D object OB low so that the 3D object OB is clearly viewed.
A [display method] radio button 622 is a radio button used to set a display method of the 3D object OB. The [display method] radio button 622 includes two setting items of [Shading] and [Wire Frame]. When [Shading] is selected, the 3D object OB is displayed in a state in which a wire frame and a surface are filled. When [Wire Frame] is selected, the 3D object OB is displayed in a state of only a wire frame as illustrated in
A [display method] radio button 623 is a radio button used to set a display color of the 3D object OB. According to the present embodiment, for example, the [display method] radio button 623 includes two setting items of [Aqua] and [Yellow]. A display color of the 3D object OB is capable of being switched by a setting of the [display method] radio button 623.
A [moving direction] radio button 624 is a radio button used to set a moving direction of a camera pose. The camera pose is a parameter representing a pose of the 3D object OB, that is, a parameter representing a direction and a position in which the 3D object OB is viewed. The [moving direction] radio button 624 includes two setting items such as [Pan/Tilt] and [Roll/Zoom]. When [Pan/Tilt] is selected, the user can rotate the camera pose in a pan/tilt direction by moving the cursor C vertically or laterally in the [Image & 3D-Object] box 611. Further, when [Roll/Zoom] is selected, the camera pose can be rotated in the roll/zoom direction through a similar operation.
A [Current Pos] box 630 is arranged below the [Image & 3D-Object] box 611.
The [Current Pos] box 630 is a box used to display surface coordinates of the 3D object OB at the cursor position in real time. The surface coordinates of the 3D object OB are represented in units of mm using coordinates of the spatial coordinate system. In the [Image & 3D-Object] box 611, the user can change a value of the [Current Pos] box 630 in real-time by moving the cursor C. For example, when the cursor C is positioned on the 3D object OB, the surface coordinates of the 3D object OB are calculated and displayed on the [Current Pos] box 630. When the cursor C is not positioned on the 3D object OB, “null” is displayed on the [Current Pos] box 630. A method of calculating the surface coordinates of the 3D object OB will be described later with reference to
A [Camera Pose] box 640 is arranged below the [Current Pos] box 630 in the main window 600. The [Camera Pose] box 640 is a box used to display a camera pose in real-time. The user can change a value of the [Camera Pose] box 640 in real-time by changing a camera pose. The camera pose is represented in units of mm using coordinates of the spatial coordinate system.
A [3D-Object Windows Pos] box 650 is arranged on the right side of the [Camera Pose] box 640 in the main window 600. The [3D-Object Windows Pos] box 650 is a box used to display the shift position of the 3D object OB in the [Image & 3D-Object] box 611. The shift position of the 3D object OB is represented in units of pixels using coordinates of the plane coordinate system.
The 3D object OB is displayed on the central portion of the [Image & 3D-Object] box 611. Even when the camera pose is changed, the display position of the 3D object OB does not change. However, an inspection object shown in the measurement image IMG is not always necessarily positioned on the central portion of the image. For this reason, after a 3D-matching process that matches the measurement image IMG with the 3D object OB is executed, the 3D object OB has to be positioned on the inspection object shown in the measurement image rather than the central portion of the [Image & 3D-Object] box 611.
The shift position represents a relative position of the 3D object OB from the central portion of the [Image & 3D-Object] box 611. Hereinafter, a moving direction of a shift position in the plane coordinate system is referred to as a “shift direction.” It is difficult for the user to manually change the shift position voluntarily. The shift position is calculated by the CPU 34c after the 3D-matching process is executed.
A [Matching & Measurement] box 660 is arranged below the [File Open] box 610. A GUI related to the 3D-matching process and measurement is arranged in the [Matching & Measurement] box 660. The [Matching & Measurement] box 660 has the following GUI functions.
A [Set Camera Pose] button 661a is a button used to change the camera pose. The user can change the camera pose by moving the cursor C vertically or laterally in the [Image & 3D-Object] box 611 after the [Set Camera Pose] button 661a is pressed. Further, a [Reset] button 661b is arranged on the right side of the [Set Camera Pose] button 661a, and when the [Reset] button 661b is pressed, the camera pose is set to an initial value.
A [Point Image] button 662a is a button used to designate a reference point (measurement) of the measurement image IMG. The reference point (measurement) is a point on the measurement image IMG used as a reference when the CPU 34c executes the 3D-matching process. The user can designate a reference point (measurement) on an inspection object shown in the measurement image IMG by moving the cursor C and performing a click operation or the like at a desired position in the [Image & 3D-Object] box 611 after the [Point Image] button 662a is pressed. The reference point (measurement) is represented in units of pixels using coordinates of the plane coordinate system. Further, when the [Point Image] button 662a is pressed, the display transparency of the 3D object OB is automatically set high, so that the measurement image IMG is clearly viewed. Further, a [Clear] button 662b is arranged on the right side of the [Point Image] button 662a. When the [Clear] button 662b is pressed, all of already designated reference points (measurement) are cleared, and a state before designation is made is recovered.
A [Point 3D-Object] button 663a is a button used to designate a reference point (3D) of the 3D object OB. The reference point (3D) is a point on the 3D object used as a reference when the CPU 34c executes the 3D-matching process, similarly to the reference point (measurement). The user can designate the reference point (3D) on the 3D object OB by moving the cursor C and performing a click operation or the like at a position at which the reference point (3D) is desired to be designated in the [Image & 3D-Object] box 611 after the [Point 3D-Object] button 663a is pressed. The reference point (3D) is represented in units of mm using coordinates of the spatial coordinate system. Further, after the [Point 3D-Object] button 663a is pressed, the display transparency of the 3D object OB is automatically set low, so that the 3D object OB is clearly viewed. Further, a [Clear] button 663b is arranged on the right side of the [Point 3D-Object] button 663a, and when the [clear] button 663b is pressed, all of the already designated reference points (3D) are cleared, and a state before designation is recovered.
A [3D-Matching] button 664 is a button used to execute the 3D-matching process. After the [3D-Matching] button 664 is pressed, the CPU 34c executes the 3D-matching process based on two sets of reference points (the reference point (measurement) and the reference point (3D)) designated by the user. At this time, the CPU 34c performs the 3D-matching process so that positions of the two sets of reference points match each other. As a result of the 3D-matching process, the inspection object and the 3D object OB in the measurement image IMG are displayed to approximately match each other, and thus the inspection object and the 3D object OB in the measurement image IMG enter a suitable state for measurement.
A [Measurement] button 665a is a button used to designate a measurement point. The measurement point is a point used as a reference when measurement is performed. The user can designate the measurement point in the 3D object OB by moving the cursor C and performing a click operation or the like at a position at which the measurement point is desired to be designated in the [Image & 3D-Object] box 611 after the [Measurement] button 665a is pressed. The CPU 34c executes a measurement process based on the designated measurement point. Further, a [Clear] button 665b is arranged on the right side of the [Measurement] button 665a. When the [Clear] button 665b is pressed, all of already designated measurement points are cleared, and a state before designation is recovered.
A [Measurement Result] box 670 is arranged below the [Matching & Measurement] box 660. The [Measurement Result] box 670 is a box used to display a measurement result. When the user designates the measurement point in the [Image & 3D-Object] box 611, measurement is performed based on the designated measurement point, and a measurement result is displayed on the [Measurement Result] box 670.
An [Exit] button 680 is arranged on the lower right portion of the main window 600. The [Exit] button 680 is a button used to end the 3D measurement software. When the [Exit] button 680 is pressed, all software operations end, and the main window 600 is closed (not displayed).
Next, a relationship between the 3D object and the camera pose will be described with reference to
A rectangular screen plane 703 is present between the 3D object OB1 and the viewpoint 700. The screen plane 703 corresponds to the [Image 3D-Object] box 611. The sizes of the screen plane 703 in the longitudinal direction and the transverse direction are fixed values. A projection image in which the 3D object OB1 is projected onto the screen plane 703 is the 3D object OB displayed on the [Image 3D-Object] box 611.
The screen plane 703 is always perpendicular to the line-of-sight direction 702, and a straight line extending from the viewpoint 700 in the line-of-sight direction 702 always passes through a center 704 of the screen plane 703. A distance 706 from the viewpoint 700 to the center 704 of the screen plane 703 is a fixed value, but a distance from the viewpoint 700 to the center of sightline 701 can be freely changed by the user.
A direction in which the screen plane 703 faces is represented by an upward vector 705. The upward vector 705 is a unit vector which is parallel to the screen plane 703 and represents a direction of the screen plane 703 such as an upper direction.
Among items illustrated in
As described above, when the camera pose is changed, the position and the direction of the screen plane are changed. Due to this change, a display of a 3D object projected onto the screen plane is changed. As a result, a display of a 3D object displayed on the [Image & 3D-Object] box 611 is changed as well. The CPU 34c detects a camera pose change instruction input through the remote controller 23 by the user, and performs a process of causing a 3D object to be displayed on the [Image & 3D-Object] box 611 according to the camera pose change instruction.
Next, the operation flow of the 3D measurement software will be described with reference to
In step SA, the CPU 34c activates the 3D measurement software. Specifically, the CPU 34c causes the 3D measurement software stored in the ROM 34b to be read into the RAM 34a based on an activation instruction input through the remote controller 23 by the user, and starts an operation according to the 3D measurement software. In step SB, the CPU 34c performs a process for displaying the main window 600.
In step SC, the CPU 34c performs an initialization process. The initialization process refers to a process of setting an initial state of various kinds of GUIs in the main window 600 and setting initial values of various kinds of data recorded in the RAM 34a. The details of the initialization process will be described later.
In step SD, the CPU 34c performs a camera-pose-setting process. The camera-pose-setting process refers to a process of roughly matching an inspection object with a 3D object in a measurement image of the [Image & 3D-Object] box 611 based on an instruction to change the camera pose which is input by the user. The details of the camera-pose-setting process will be described later.
In step SE, the CPU 34c performs a reference point (measurement) setting process. The reference point (measurement) setting process refers to a process of designating (setting) a reference point based on an instruction which is input by the user and designates a position on an inspection object shown in the measurement image of the [Image & 3D-Object] box 611. The details of the reference point (measurement) setting process will be described later.
In step SF, the CPU 34c performs a reference point (3D) setting process. The reference point (3D) setting process refers to a process of designating (setting) a reference point based on an instruction which is input by the user and designates a position on the 3D object of the [Image & 3D-Object] box 611. The details of the reference point (3D) setting process will be described later.
In step SG, the CPU 34c performs a 3D-matching process. The 3D-matching process refers to a process of matching the measurement image displayed on the [Image & 3D-Object] box 611 with the 3D object based on two sets of reference points (the reference point (measurement) and the reference point (3D)) designated by the user. The details of the 3D-matching process will be described later.
In step SH, the CPU 34c performs the measurement process. The measurement process refers to a process of designating (setting) a measurement point based on an instruction which is input by the user to designate a position on the 3D object in the [Image & 3D-Object] box 611 and calculating the size of the inspection object based on the designated measurement point. The details of the measurement process will be described later.
In step SI, the CPU 34c checks whether or not the user has pressed the [Exit] button 680. When the user has pressed the [Exit] button 680, the process proceeds to step SJ. Further, when the user has not pressed the [Exit] button 680, the process proceeds to step SD. In step SJ, the CPU 34c does not display the main window 600, and the operation of the 3D measurement software ends.
Next, the operation flow of the initialization process of step SC will be described with reference to
Among camera poses, for a viewpoint position, the CPU 34c sets coordinates (x,y,z) (=(0,0,0)) of an original point of the spatial coordinate system as an initial value (a viewpoint 1300) as illustrated in
In step SC3, the CPU 34c records the camera pose (initial value) calculated in step SC2 in the RAM 34a as a current camera pose. The current camera pose refers to a currently set camera pose. A 3D object is displayed based on the current camera pose.
In step SC4, the CPU 34c executes a process of causing the measurement image IMG to be displayed on the [Image & 3D-Object] box 611 and then causing the 3D object OB to be displayed on the measurement image IMG in the superimposed manner with predetermined transparency as illustrated in
Next, the flow of the camera-pose-setting process of step SD will be described with reference to
In step SD2, the CPU 34c checks whether or not the [Set Camera Pose] button 661a has been pressed by the user. When the [Set Camera Pose] button 661a has been pressed, the process proceeds to step SD3. When the [Set Camera Pose] button 661a has not been pressed, the camera-pose-setting process ends.
In step SD3, the CPU 34c performs a process of emphasizing and highlighting the [Set Camera Pose] button 661a as illustrated in
In step SD4, the CPU 34c detects the user's operation (drag operation) of moving the cursor C vertically or horizontally while operating the remote controller 23 to perform a click operation or the like through the cursor C in the [Image & 3D-Object] box 611 as illustrated in
In step SD5, the CPU 34c records the changed camera pose as the current camera pose in the RAM 34a in an overwriting manner. In step SD6, the CPU 34c performs a process of re-displaying a 3D object based on the current camera pose. As a result, as illustrated in
Next, the flow of the reference point (measurement) setting process of step SE will be described with reference to
When the [Point Image] button 662a is in the pressed state, the process proceeds to step SE5. When the [Point Image] button 662a is not in the pressed state, the process proceeds to step SE2.
In step SE2, the CPU 34c checks whether or not the [Point Image] button 662a has been pressed by the user. When the [Point Image] button 662a has been pressed, the process proceeds to step SE3, but when the [Point Image] button 662a has not been pressed, the reference point (measurement) setting process ends.
In step SE3, the CPU 34c performs a process of highlighting the [Point Image] button 662a as illustrated in
In step SE4, the CPU 34c performs a process of changing the transparency of the 3D object OB and then re-displaying the 3D object OB with the changed transparency as illustrated in
In step SE5, the CPU 34c detects the user's operation such as operating the remote controller 23 and clicking through the cursor C in order to designate the reference point (measurement) to the inspection object DUT shown in the measurement image in the [Image & 3D-Object] box 611, and calculates coordinates of the designated reference point based on a result of detecting the operation of the cursor C. At this time, the calculated coordinates of the reference point (measurement) are plane coordinates (in units of pixels) in the measurement image.
In step SE6, the CPU 34c records the coordinates of the designated reference point (measurement) in the RAM 34a. In step SE7, the CPU 34c performs a process of causing the designated reference point (measurement) to be displayed on the measurement image in the superimposed manner. As a result, as illustrated in
Next, the flow of the reference point (3D) setting process of step SF will be described with reference to
In step SF2, the CPU 34c checks whether or not the [Point 3D-Object] button 663a has been pressed by the user. When the [Point 3D-Object] button 663a has been pressed, the process proceeds to step SF3, but when the [Point 3D-Object] button 663a has not been pressed, the reference point (3D) setting process ends.
In step SF3, the CPU 34c performs a process of highlighting the [Point 3D-Object] button 663a as illustrated in
In step SF4, the CPU 34c performs a process of changing the transparency of the 3D object OB and re-displaying the 3D object OB with the changed transparency as illustrated in
In step SF5, the CPU 34c detects the user's operation such as operating the remote controller 23 and clicking through the cursor C in order to designate the reference point (3D) to the inspection object DUT shown in the measurement image in the [Image & 3D-Object] box 611, and calculates coordinates of the designated reference point based on a result of detecting the operation of the cursor C. At this time, the calculated coordinates of the reference point (3D) are spatial coordinates (in units of mm) in the 3D object surface. The CPU 34c first calculates plane coordinates (in units of pixels) of the designated reference point, and then calculates the spatial coordinates (in units of mm) from the calculated plane coordinates.
The reference point (3D) designated by the user should be associated with the already designated reference point (measurement). In the present embodiment, the CPU 34c associates the reference point (3D) with the reference point (measurement) based on the order in which the user designates the reference point (measurement) and the order in which the reference point (3D) is designated. More specifically, the CPU 34c associates a point firstly designated among the reference points (measurement) with a point firstly designated among the reference points (3D), associates a point secondly designated among the reference points (measurement) with a point secondly designated among the reference points (3D), . . . , and associates a point n-thly designated among the reference points (measurement) with a point n-thly designated among the reference points (3D). The above-mentioned method is an example of the present invention, but the present invention is not limited to the example.
As illustrated in
In step SF6, the CPU 34c records coordinates of the designated reference points (3D) in the RAM 34a. In step SF7, the CPU 34c performs a process of allowing the designated reference points (3D) to be displayed on the 3D object in the superimposed manner. As a result, the reference points (3D) R1′, R2′, and R3′ are displayed on the 3D object OB in the superimposed manner as illustrated in
When the process of step SF7 ends, the reference point (3D) setting process ends.
The CPU 34c may record coordinates of the designated reference points (3D) in CAD data or record coordinates of the designated reference points (3D) in another file associated with CAD data. Thus, when the same CAD data is read again in the step SC1, the process of the steps SF1 to SF5 may be omitted. Further, the reference point (3D) need not necessarily be designated in step SF, and the reference point (3D) may be recorded in CAD data in advance through the endoscope apparatus 3, the PC 6, or the like or may be recorded in another file associated with CAD data.
Next, the flow of the 3D-matching process of step SG will be described with reference to
In step SG2, the CPU 34c checks whether or not all reference points have been designated. Specifically, the CPU 34c checks whether or not three reference points (measurement) and three reference points (3D) have already been designated. When all reference points have been designated, the process proceeds to step SG3. When any one reference point has not been designated, the 3D-matching process ends. In step SG3, the CPU 34c reads coordinates of all reference points recorded in the RAM 34a.
In step SG4, the CPU 34c performs a pan/tilt direction-matching process based on the coordinates of the designated reference points. The details of the pan/tilt direction-matching process will be described later. In step SG5, the CPU 34c performs a roll direction-matching process based on the coordinates of the designated reference points. The details of the roll direction-matching process will be described later.
In step SG6, the CPU 34c performs a zoom direction-matching process based on the coordinates of the designated reference points. The details of the zoom direction-matching process will be described later.
In step SG7, the CPU 34c performs a shift direction-matching process based on the coordinates of the designated reference points. The details of the shift direction-matching process will be described later.
In step SG8, the CPU 34c performs a process of re-displaying the 3D object in the [Image & 3D-Object] box 611. At this time, the pose and the position of the 3D object are adjusted based on the camera pose and the shift position finally calculated in steps SG4 to SG7, and then the 3D object is displayed.
Next, the flow of the measurement process of step SH will be described with reference to
In step SH2, the CPU 34c checks whether or not the [Measurement] button 665a has been pressed by the user. When the [Measurement] button 665a has been pressed, the process proceeds to step SH3. When the [Measurement] button 665a has not been pressed, the measurement process ends.
In step SH3, the CPU 34c performs a process of highlighting the [Measurement] button 665a as illustrated in
In step SH4, the CPU 34c detects the user's operation of operating the remote controller 23 and clicking through the cursor C or the like in order to designate a measurement point to the 3D object in the [Image & 3D-Object] box 611, and calculates coordinates of the designated measurement point based on a result of detecting the operation of the cursor C. The CPU 34c records the calculated coordinates of the measurement point in the RAM 34a. At this time, the recorded coordinates of the measurement point are spatial coordinates (units of mm) in the 3D object surface.
In step SH5, the CPU 34c calculates a measurement result based on the coordinates of the designated measurement point, and records the calculated measurement result in the RAM 34a. In the present embodiment, a spatial distance (a distance between two points) between 2 measurement points is measured. The measurement result calculated in step SH5 is a spatial distance between two measurement points which are previously designated. When there is only one designated measurement point, the measurement result is not calculated, and the process proceeds to step SH6.
In step SH6, the CPU 34c performs a process of causing the designated measurement point to be displayed on the 3D object in the superimposed manner as illustrated in
When the process of step SH6 ends, the measurement process ends. The above description has been made in connection with the example in which a distance between two points is measured, but the above process is similarly applied, for example, when an area in which three or more measurement points are designated is measured.
Next, a method of calculating spatial coordinates (3D coordinates) of designated measurement points in the 3D object surface will be described with reference to
The 3D object is configured with a plurality of triangular spatial planes. A direction which is directed from the viewpoint E toward a center of gravity point G of a 3D object is referred to as a direction of sightline. A screen plane SC crossing the direction of sightline at a right angle is set between the viewpoint E and the 3D object.
When the user designates a measurement point on the 3D object in the [Image & 3D-Object] box 611, the CPU 34c designates a measurement point S on the screen plane SC as illustrated in
Then, as illustrated in
As described above, the spatial coordinates of the measurement point can be calculated. The spatial coordinates of the reference point (3D) in step SF5 can be calculated in a manner similar to the above-described method.
Next, the flow of the pan/tilt direction-matching process of step SG4 will be described with reference to
Hereinafter, projection points Rp1′ to Rp3′ obtained by bringing reference points (3D) R1′ to R3′ down onto a screen plane 3100 are referred to as projection points (3D) as illustrated in
In step SG401, the CPU 34c calculates vertex angles (measurement), and records the calculated vertex angles (measurement) in the RAM 34a. The vertex angles (measurement) are angles A1 to A3 of three vertexes R1 to R3 of a reference figure (measurement) 3200 as illustrated in
In step SG402, the CPU 34c rotates the camera pose by −31 degrees in each of the pan/tilt direction. The repetitive process is performed in steps SG403 to SG407 to sequentially calculate vertex angles (3D) while rotating the camera pose in the pan/tilt direction as illustrated in
As described above, the reference points (measurement) and the reference points (3D) are associated with each other in the order in which the reference points are designated, and the angles A1 to A3 are also associated with the angles A1′ to A3′ in the order. In
In step SG403, the CPU 34c rotates the camera pose by +1 degree in the pan direction. Then, in steps SG403 to SG407, the CPU 34c performs the repetitive process until the rotational angle of the camera pose in the pan direction becomes +30 degrees. Since the CPU 34c rotates the camera pose by +1 degree in the pan direction from −30 degrees to +30 degrees, a series of processes of steps SG403 to SG407 is consequently repeated 61 times.
In step SG404, the CPU 34c rotates the camera pose by +1 degree in the tilt direction. Then, in steps SG404 to SG407, the CPU 34c performs the repetitive process until the rotational angle of the camera pose in the tilt direction becomes +30 degrees. Since the CPU 34c rotates the camera pose by +1 degree in the tilt direction from −30 degrees to +30 degrees, a series of processes of steps SG404 to SG407 is consequently repeated 61 times. Further, in the repetitive process of steps SG403 to SG407, the camera pose is rotated from −30 degrees to +30 degrees, but the range in which the camera pose is rotated is not always necessarily to be limited to the range.
When the user changes the camera pose in the camera-pose-setting process of step SD, a range necessary to rotate the camera pose in the repetitive process of steps SG403 to SG407 changes according to a degree by which the inspection object shown in the measurement image and the 3D object match. When the range is large, although it is desirable for the user to perform rough matching, a processing time of 3D matching also increases. When the range is small, although a processing time of 3D matching is short, the user needs to perform matching in detail to some extent.
In step SG405, the CPU 34c records the current rotational angle in the pan/tilt direction in the RAM 34a.
In step SG406, the CPU 34c calculates projection points (3D), and records the calculated projection points (3D) in the RAM 34a. In step SG407, the CPU 34c calculates the vertex angles (3D), and records the calculated vertex angles (3D) in the RAM 34a. At this time, the CPU 34c adds and records the vertex angles (3D) in the data list row-by-row in association with the rotational angle in the pan/tilt direction as illustrated in
When the repetitive process of steps SG403 to SG407 ends, the process proceeds to step SG408. At this point in time, the data list is configured with data corresponding to 61×61 rows as illustrated in
In step SG409, the CPU 34c calculates differences between the vertex angles (measurement) and the vertex angles (3D). Specifically, the CPU 34c calculates absolute values D1 to D3 of differences between the vertex angles (measurement) A1 to A3 and the vertex angles (3D) A1′ to A3′ as in Equations (1) to (3):
D1=|A1−A1′| (1)
D2=|A2−A2′| (2)
D3=|A3−A3′| (3)
Further, the CPU 34c adds and records the differences between the vertex angles in the data list in association with the rotational angle in the pan/tilt direction as illustrated in
In step SG410, the CPU 34c calculates an average value of the differences D1 to D3. Further, the CPU 34c adds and records the average value in the data list in association with the rotational angle in the pan/tilt direction as illustrated in
In step SG411, the CPU 34c searches for a minimum average value from the data list.
In step SG412, the CPU 34c reads the rotational angle in the pan/tilt direction at which the average value is minimum from the data list. Specifically, the CPU 34c reads the rotational angle in the pan/tilt direction associated with the minimum average value from the data list as illustrated in
In step SG413, the CPU 34c rotates the camera pose in the pan/tilt direction by the rotational angle read in step SG412. When the 3D object is displayed with the camera pose, the vertex angle (measurement) matches the vertex angle (3D) well after the rotation as illustrated in
In step SG414, the CPU 34c records the camera pose at the time in the RAM 34a in the overwriting manner as the current camera pose. Here, a re-display of the 3D object based on the current camera pose is not performed. When the process of step SG414 ends, the pan/tilt direction-matching process ends.
Next, the flow of the roll direction-matching process of step SG5 will be described with reference to
In step SG501, the CPU 34c calculates relative angles (measurement), and records the calculated relative angles (measurement) in the RAM 34a. The relative angles (measurement) are angles Ar1 to Ar3 between a straight line 3700 extending in the vertical direction in the measurement image and three sides of the reference figure (measurement) as illustrated in
In step SG502, the CPU 34c calculates projection points (3D), and records the calculated projection points (3D) in the RAM 34a. In step SG503, the CPU 34c calculates relative angles (3D), and records the calculated relative angles (3D) in the RAM 34a. The relative angles (3D) are angles Ar1′ to Ar3′ between a straight line 3701 extending in the vertical direction in the screen plane and three sides of the reference
In step SG504, the CPU 34c calculates differences between the relative angles (measurement) and the relative angles (3D). Specifically, the CPU 34c calculates differences Dr1 to Dr3 between the relative angles (measurement) Ar1 to Ar3 and the relative angle (3D) Ar1′ to Ar3′ as in Equations (4) to (6):
Dr1=Ar1−Ar1′ (4)
Dr2=Ar2−Ar2′ (5)
Dr3=Ar3−Ar3′ (6)
In step SG505, the CPU 34c calculates an average value of the differences Dr1 to Dr3, and records the calculated average value in the RAM 34a. In step SG506, the CPU 34c rotates the camera pose in the roll direction by the average value calculated in step SG505. When the 3D object is displayed with the camera pose, the relative angle (measurement) matches the relative angle (3D) well after the rotation as illustrated in
In step SG507, the CPU 34c records the camera pose at this time in the RAM 34a in the overwriting manner as the current camera pose. Here, a re-display of the 3D object based on the current camera pose is not performed. When the process of step SG507 ends, the roll direction-matching process ends.
Next, the flow of the zoom direction-matching process of step SG6 will be described with reference to
In step SG601, the CPU 34c calculates side lengths (measurement), and records the calculated side lengths (measurement) in the RAM 34a. The side lengths (measurement) are lengths L1 to L3 of three sides of a triangle configured with the reference points (measurement) R1 to R3 as illustrated in
In step SG602, the CPU 34c calculates projection points (3D), and records the calculated projection points (3D) in the RAM 34a. In step SG603, the CPU 34c calculates first side lengths (3D), and records the calculated first side lengths (3D) in the RAM 34a. The first side lengths (3D) are lengths L1′ to L3′ of the three sides of the reference
In step SG604, the CPU 34c records a camera pose at this time in the RAM 34a in the overwriting manner as a first camera pose. In step SG605, the CPU 34c moves the camera pose in the zoom direction by a predetermined value as illustrated in
In step SG606, the CPU 34c calculates projection points (3D), and records the calculated projection points (3D) in the RAM 34a. In step SG607, the CPU 34c calculates second side lengths (3D), and records the calculated second side lengths (3D) in the RAM 34a. The second side lengths (3D) are lengths Lz1′ to Lz3′ of three sides of the reference
In step SG609, the CPU 34c calculates a zoom amount, and records the calculated zoom amount in the RAM 34a. The zoom amount represents a movement distance of a camera pose in the zoom direction in which the side length (3D) matches the side length (measurement). The zoom amount is calculated based on a relationship between the first and second side lengths (3D) and the first and second camera poses. Since there are three sides, three zoom amounts are calculated.
In step SG610, the CPU 34c calculates an average value of the three zoom amounts, and records the calculated average value in the RAM 34a. In step SG611, the CPU 34c moves the camera pose in the zoom direction by the average value calculated in step SG610. When the 3D object is displayed with this camera pose, the side length (measurement) matches the side length (3D) well after the movement as illustrated in
In step SG612, the CPU 34c records a camera pose at this time in the RAM 34a in the overwriting manner as a current camera pose. Here, a re-display of the 3D object based on the current camera pose is not performed. When the process of step SG612 ends, the zoom direction-matching process ends.
Next, the flow of the shift direction-matching process of step SG7 will be described with reference to
In step SG701, the CPU 34c calculates a center of gravity point (measurement), and records the calculated center of gravity point (measurement) in the RAM 34a. The center of gravity point (measurement) is a center of gravity point G of a triangle configured with reference points (measurement) R1 to R3 as illustrated in
In step SG702, the CPU 34c calculates projection points (3D), and records the calculated projection points (3D) in the RAM 34a. In step SG703, the CPU 34c calculates a center of gravity point (3D), and records the calculated center of gravity point (3D) in the RAM 34a. The center of gravity point (3D) is a center of gravity point G′ of a triangle configured with projection points (3D) Rp1′ to Rp3′ as illustrated in
In step SG704, the CPU 34c calculates a shift amount, and records the calculated shift amount in the RAM 34a. The shift amount is a relative position (the plane coordinate system, in units of pixels) of the center of gravity point (measurement) relative to the center of gravity point (3D). In step SG705, the CPU 34c moves the 3D object in the shift direction only by the shift amount calculated in step SG704.
When the 3D object is displayed with the camera pose, the center of gravity point (measurement) matches the center of gravity point (3D) well as illustrated in
In the present embodiment, when the 3D-matching process is executed, only a simple geometric calculation is needed to be performed based on a reference figure of a plain shape designated by the user, and thus processing time is capable of being significantly reduced. Further, a re-display of the 3D object may be performed only once after the 3D-matching process ends.
Next, a modified example of the present embodiment will be described. In the above description, the CPU 34c performs the 3D-matching process based on the three reference points, but in the present modified example, the CPU 34c performs the 3D-matching process based on four reference points. In the pan/tilt direction-matching process of step SG4, the CPU 34c calculates the rotational angle of the camera pose in the pan/tilt direction in which the reference figure (measurement) is most similar and closest to the reference
According to the present modified example, the matching accuracy of the 3D-matching process is improved. In the present modified example, in the reference point (measurement) setting process of step SE, the user designates four reference points (measurement) R1 to R4 as illustrated in
In the present modified example, in the 3D-matching process of step SG, the CPU 34c performs the 3D-matching process based on the four triangles. For example, in the pan/tilt direction-matching process of step SG4, the CPU 34c calculates the rotational angle of the camera pose in the pan/tilt direction. However, an average value of the rotational angles calculated based on each of the four triangles is finally used as the rotational angle. In the matching processes of steps SG5 to SG7, the CPU 34c uses an average value of the rotational angles and an average value of the movement distances calculated based on each of the four triangles as a final rotational angle and a final movement distance.
In the present modified example, as the user designates the four reference points, the CPU 34c performs the 3D-matching process based on the four reference figures configured with the reference points. Thus, the CPU 34c can use many parameters when performing the 3D-matching process. As a result, the matching accuracy can be improved.
In the present embodiment, the measurement is performed such that the CPU 34c performs the above-described process according to the 3D measurement software which is the software (program) in which a procedure and content of a series of processes related to the measurement are specified.
The imaging control unit 340 performs control of the light source 32 and the curvature control unit 33 or control of the imaging element 30b. The designating unit 341 designates (sets) a reference point (measurement), a reference point (3D), or a measurement point corresponding to a designated position on a measurement image or a 3D object image based on an instruction input through the remote controller 23 by the user. The matching processing unit 342 calculates the reference figure (measurement) and the reference
The display control unit 343 controls, for example, content or a display status of an image to be displayed on the monitor 22. Particularly, the display control unit 343 causes the measurement image and the 3D object to be displayed in the matched state by adjusting the pose and the position of the 3D object based on the amount of change in the camera pose calculated through the matching processing unit 342. In the above description, the pose and the position of only the 3D object are adjusted, but the present invention is not limited to the example, and the pose and the position of only the measurement image may be adjusted, or the poses and the positions of both the measurement image and the 3D object may be adjusted. The measuring unit 344 performs the measurement process based on the measurement point designated through the designating unit 341. All or some of the functional components illustrated in
As described above, according to the present embodiment, a geometric calculation of a reference figure (measurement) and a reference
Further, the reference points (measurement) are associated with the reference points (3D) based on the order in which the reference points (measurement) and the reference points (3D) are designated, and thus both can be associated by an easy method, and a processing time necessary for matching can be reduced.
Further, matching is performed by a geometric calculation of a reference figure (measurement) on a measurement image and a reference
Further, when the user designates the reference point (measurement), the transparency of the 3D object is set high, thus the user can clearly view the measurement image and easily designate the reference point (measurement).
Further, a re-display of a 3D object having a high processing load is performed when the 3D-matching process ends instead of being performed during the 3D-matching process, processing time necessary for matching can be reduced.
While preferred embodiments of the invention have been described and illustrated above, it should be understood that these are exemplary of the invention and are not to be considered as limiting. Additions, omissions, substitutions, and other modifications can be made without departing from the scope of the present invention. Accordingly, the invention is not to be considered as being limited by the foregoing description, and is only limited by the scope of the appended claims.
Claims
1. An image processing apparatus, comprising:
- a display unit that displays an image of a measurement object and an image of an object which corresponds to the measurement object and has a 3-dimensional (3D) shape which is calculated in advance;
- a designating unit that designates a first point on the image of the measurement object and a second point on the image of the object based on an instruction input through an input device;
- a calculating unit that performs a geometric calculation of a first figure based on the first point and a second figure based on the second point;
- an adjusting unit that adjusts a pose or a position of at least one of the image of the measurement object and the image of the object based on a result of the geometric calculation; and
- a measuring unit that calculates spatial coordinates on the object corresponding to a measurement position designated based on an instruction input through the input device after the pose or the position is adjusted, and calculates a size of the object based on the calculated spatial coordinates.
2. The image processing apparatus according to claim 1,
- wherein each of the first point and the second point includes three or more points designated based on the instruction input through the input device.
3. The image processing apparatus according to claim 2,
- wherein the calculating unit performs the geometric calculation such that the first point is associated with the second point based on an order in which the first point is designated and an order in which the second point is designated.
4. The image processing apparatus according to claim 1,
- wherein the calculating unit performs a geometric calculation of a first figure on a plane based on the first point and a second figure on a space based on a point in a space of the object corresponding to the second point.
5. The image processing apparatus according to claim 4,
- wherein the calculating unit performs a geometric calculation of the first figure on the plane and a third figure obtained such that the second figure in the space is projected onto the plane.
6. The image processing apparatus according to claim 1,
- wherein the designating unit further sets a transparency of the image of the object when the first point is designated higher than a transparency of the image of the object when the second point is designated.
7. The image processing apparatus according to claim 1,
- wherein the display unit maintains poses and positions of the image of the measurement object and the image of the object until the geometric calculation ends after displaying the image of the measurement object and the image of the object, and re-displays the image of the measurement object and the image of the object whose pose or position has been adjusted after the geometric calculation ends.
8. An image processing method, comprising:
- a step of displaying an image of a measurement object and an image of an object which corresponds to the measurement object and has a 3-dimensional (3D) shape which is calculated in advance;
- a step of designating a first point on the image of the measurement object and a second point on the image of the object based on an instruction input through an input device;
- a step of performing a geometric calculation of a first figure based on the first point and a second figure based on the second point;
- a step of adjusting a pose or a position of at least one of the image of the measurement object and the image of the object based on a result of the geometric calculation; and
- a step of calculating spatial coordinates on the object corresponding to a measurement position designated based on an instruction input through the input device after the pose or the position is adjusted, and calculating a size of the object based on the calculated spatial coordinates.
9. The image processing method according to claim 8,
- wherein each of the first point and the second point includes three or more points designated based on the instruction input through the input device, and
- a calculating unit performs the geometric calculation such that the first point is associated with the second point based on an order in which the first point is designated and an order in which the second point is designated.
10. A computer program product having a program stored there in for causing a computer to function as:
- a display unit that displays an image of a measurement object and an image of an object which corresponds to the measurement object and has a 3-dimensional (3D) shape which is calculated in advance;
- a designating unit that designates a first point on the image of the measurement object and a second point on the image of the object based on an instruction input through an input device;
- a calculating unit that performs a geometric calculation of a first figure based on the first point and a second figure based on the second point;
- an adjusting unit that adjusts a pose or a position of at least one of the image of the measurement object and the image of the object based on a result of the geometric calculation; and
- a measuring unit that calculates spatial coordinates on the object corresponding to a measurement position designated based on an instruction input through the input device after the pose or the position is adjusted, and calculates a size of the object based on the calculated spatial coordinates.
Type: Application
Filed: Dec 10, 2013
Publication Date: Apr 10, 2014
Patent Grant number: 9275473
Applicant: OLYMPUS CORPORATION (Tokyo)
Inventor: Fumio HORI (Tokyo)
Application Number: 14/102,455
International Classification: G06T 7/60 (20060101); G06T 19/20 (20060101);
